OpenRaiser/Intern-Atlas huggingface dataset:
Offline Pre-trained Multi-Agent Decision Transformer: One Big Sequence Model Tackles All SMAC Tasks
Venue: arXiv cs.LG 2022
Year: 2022

Offline reinforcement learning leverages previously-collected offline datasets to learn optimal policies with no necessity to access the real environment. Such a paradigm is also desirable for multi-agent reinforcement learning (MARL) tasks, given the increased interactions among agents and with the enviroment. Yet, in MARL, the paradigm of offline pre-training with online fine-tuning has not been studied, nor datasets or benchmarks for offline MARL research are available. In this paper, we facilitate the research by providing large-scale datasets, and use them to examine the usage of the Decision Transformer in the context of MARL. We investigate the generalisation of MARL offline pre-training in the following three aspects: 1) between single agents and multiple agents, 2) from offline pretraining to the online fine-tuning, and 3) to that of multiple downstream tasks with few-shot and zero-shot capabilities. We start by introducing the first offline MARL dataset with diverse quality levels based on the StarCraftII environment, and then propose the novel architecture of multi-agent decision transformer (MADT) for effective offline learning. MADT leverages transformer's modelling ability of sequence modelling and integrates it seamlessly with both offline and online MARL tasks. A crucial benefit of MADT is that it learns generalisable policies that can transfer between different types of agents under different task scenarios. On StarCraft II offline dataset, MADT outperforms the state-of-the-art offline RL baselines. When applied to online tasks, the pre-trained MADT significantly improves sample efficiency, and enjoys strong performance both few-short and zero-shot cases. To our best knowledge, this is the first work that studies and demonstrates the effectiveness of offline pre-trained models in terms of sample efficiency and generalisability enhancements in MARL.
Social Sourcing: Incorporating Social Networks Into Crowdsourcing Contest Design
Venue: arXiv cs.AI 2022
Year: 2022

In a crowdsourcing contest, a principal holding a task posts it to a crowd. People in the crowd then compete with each other to win the rewards. Although in real life, a crowd is usually networked and people influence each other via social ties, existing crowdsourcing contest theories do not aim to answer how interpersonal relationships influence people's incentives and behaviors and thereby affect the crowdsourcing performance. In this work, we novelly take people's social ties as a key factor in the modeling and designing of agents' incentives in crowdsourcing contests. We establish two contest mechanisms by which the principal can impel the agents to invite their neighbors to contribute to the task. The first mechanism has a symmetric Bayesian Nash equilibrium, and it is very simple for agents to play and easy for the principal to predict the contest performance. The second mechanism has an asymmetric Bayesian Nash equilibrium, and agents' behaviors in equilibrium show a vast diversity which is strongly related to their social relations. The Bayesian Nash equilibrium analysis of these new mechanisms reveals that, besides agents' intrinsic abilities, the social relations among them also play a central role in decision-making. Moreover, we design an effective algorithm to automatically compute the Bayesian Nash equilibrium of the invitation crowdsourcing contest and further adapt it to a large graph dataset. Both theoretical and empirical results show that the new invitation crowdsourcing contests can substantially enlarge the number of participants, whereby the principal can obtain significantly better solutions without a large advertisement expenditure.
Hardware Trojan Insertion in Finalized Layouts: From Methodology to a Silicon Demonstration
Venue: arXiv cs.CR 2022
Year: 2022

Owning a high-end semiconductor foundry is a luxury very few companies can afford. Thus, fabless design companies outsource integrated circuit fabrication to third parties. Within foundries, rogue elements may gain access to the customer's layout and perform malicious acts, including the insertion of a hardware trojan (HT). Many works focus on the structure/effects of a HT, while very few have demonstrated the viability of their HTs in silicon. Even fewer disclose how HTs are inserted or the time required for this activity. Our work details, for the first time, how effortlessly a HT can be inserted into a finalized layout by presenting an insertion framework based on the engineering change order flow. For validation, we have built an ASIC prototype in 65nm CMOS technology comprising of four trojaned cryptocores. A side-channel HT is inserted in each core with the intent of leaking the cryptokey over a power channel. Moreover, we have determined that the entire attack can be mounted in a little over one hour. We also show that the attack was successful for all tested samples. Finally, our measurements demonstrate the robustness of our SCT against skews in the manufacturing process.
Lecture Notes on Partially Known MDPs
Venue: arXiv cs.AI 2022
Year: 2022

In these notes we will tackle the problem of finding optimal policies for Markov decision processes (MDPs) which are not fully known to us. Our intention is to slowly transition from an offline setting to an online (learning) setting. Namely, we are moving towards reinforcement learning.
Sequential Randomized Smoothing for Adversarially Robust Speech Recognition
Venue: arXiv cs.CL 2022
Year: 2022

While Automatic Speech Recognition has been shown to be vulnerable to adversarial attacks, defenses against these attacks are still lagging. Existing, naive defenses can be partially broken with an adaptive attack. In classification tasks, the Randomized Smoothing paradigm has been shown to be effective at defending models. However, it is difficult to apply this paradigm to ASR tasks, due to their complexity and the sequential nature of their outputs. Our paper overcomes some of these challenges by leveraging speech-specific tools like enhancement and ROVER voting to design an ASR model that is robust to perturbations. We apply adaptive versions of state-of-the-art attacks, such as the Imperceptible ASR attack, to our model, and show that our strongest defense is robust to all attacks that use inaudible noise, and can only be broken with very high distortion.
CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
Venue: arXiv cs.RO 2022
Year: 2022

General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of general-purpose skills that allow composing long-horizon tasks by following unconstrained language instructions. In this paper, we present CALVIN (Composing Actions from Language and Vision), an open-source simulated benchmark to learn long-horizon language-conditioned tasks. Our aim is to make it possible to develop agents that can solve many robotic manipulation tasks over a long horizon, from onboard sensors, and specified only via human language. CALVIN tasks are more complex in terms of sequence length, action space, and language than existing vision-and-language task datasets and supports flexible specification of sensor suites. We evaluate the agents in zero-shot to novel language instructions and to novel environments and objects. We show that a baseline model based on multi-context imitation learning performs poorly on CALVIN, suggesting that there is significant room for developing innovative agents that learn to relate human language to their world models with this benchmark.
RafterNet: Probabilistic predictions in multi-response regression
Venue: arXiv cs.LG 2022
Year: 2022

A fully nonparametric approach for making probabilistic predictions in multi-response regression problems is introduced. Random forests are used as marginal models for each response variable and, as novel contribution of the present work, the dependence between the multiple response variables is modeled by a generative neural network. This combined modeling approach of random forests, corresponding empirical marginal residual distributions and a generative neural network is referred to as RafterNet. Multiple datasets serve as examples to demonstrate the flexibility of the approach and its impact for making probabilistic forecasts.
A Sensitivity Analysis of the MSMARCO Passage Collection
Venue: arXiv cs.IR 2022
Year: 2022

The recent MSMARCO passage retrieval collection has allowed researchers to develop highly tuned retrieval systems. One aspect of this data set that makes it distinctive compared to traditional corpora is that most of the topics only have a single answer passage marked relevant. Here we carry out a "what if" sensitivity study, asking whether a set of systems would still have the same relative performance if more passages per topic were deemed to be "relevant", exploring several mechanisms for identifying sets of passages to be so categorized. Our results show that, in general, while run scores can vary markedly if additional plausible passages are presumed to be relevant, the derived system ordering is relatively insensitive to additional relevance, providing support for the methodology that was used at the time the MSMARCO passage collection was created.
PRM path smoothening by circular arc fillet method for mobile robot navigation
Venue: arXiv cs.RO 2022
Year: 2022

Motion planning and navigation, especially for mobile robots operating in complex navigational environments, has been a central problem since robotics started. A heuristic way to address it is the construction of a graph-based representation (a path) capturing the connectivity of the configuration space. Probabilistic Roadmap is a commonly used method by the robotics community to build a path for navigational mobile robot path planning. In this study, path smoothening by arc fillets is proposed for mobile robot path planning after obtaining the path from PRM in the presence of the obstacle. The proposed method runs in two steps; the first one is generating the shortest path between the initial state to one of the goal states in the obstacle presence environment, wherein the PRM is used to construct a straight-lined path by connecting the intermediate nodes. The second step is smoothening every corner caused by node presence. Smoothening the corners with arc fillets ensures smooth turns for the mobile robots. The suggested method has been simulated and tested with different PRM features. Experiment results show that the constructed path is not just providing smooth turning; it is also shorter and quicker to finish for a robot while avoiding obstacles.
SalFBNet: Learning Pseudo-Saliency Distribution via Feedback Convolutional Networks
Venue: arXiv cs.CV 2022
Year: 2022

Feed-forward only convolutional neural networks (CNNs) may ignore intrinsic relationships and potential benefits of feedback connections in vision tasks such as saliency detection, despite their significant representation capabilities. In this work, we propose a feedback-recursive convolutional framework (SalFBNet) for saliency detection. The proposed feedback model can learn abundant contextual representations by bridging a recursive pathway from higher-level feature blocks to low-level layer. Moreover, we create a large-scale Pseudo-Saliency dataset to alleviate the problem of data deficiency in saliency detection. We first use the proposed feedback model to learn saliency distribution from pseudo-ground-truth. Afterwards, we fine-tune the feedback model on existing eye-fixation datasets. Furthermore, we present a novel Selective Fixation and Non-Fixation Error (sFNE) loss to make proposed feedback model better learn distinguishable eye-fixation-based features. Extensive experimental results show that our SalFBNet with fewer parameters achieves competitive results on the public saliency detection benchmarks, which demonstrate the effectiveness of proposed feedback model and Pseudo-Saliency data. Source codes and Pseudo-Saliency dataset can be found at https://github.com/gqding/SalFBNet
Towards the classification of Self-Sovereign Identity properties
Venue: arXiv cs.CR 2022
Year: 2022

Self-Sovereign Identity (SSI) is a novel and emerging, decentralized digital identity approach that enables entities to control and manage their digital identifiers and associated identity data fully while enhancing trust, privacy, security, and the many other properties identified and analyzed in this paper. The paper provides an overview and classification of the SSI properties, focusing on an in-depth analysis, furthermore, presenting a comprehensive collection of SSI properties that are important for the implementation of the SSI system. In addition, it explores the general SSI process flow, and highlights the steps in which individual properties are important. After the initial purification and classification phase, we then validated properties among experts in the field of Decentralized and Self-Sovereign Identity Management using an online questionnaire, which resulted in a final set of classified and verified SSI properties. The results can be used for further work on definition and standardization of the SSI field.
Radar Occupancy Prediction with Lidar Supervision while Preserving Long-Range Sensing and Penetrating Capabilities
Venue: arXiv cs.RO 2022
Year: 2022

Radar shows great potential for autonomous driving by accomplishing long-range sensing under diverse weather conditions. But radar is also a particularly challenging sensing modality due to the radar noises. Recent works have made enormous progress in classifying free and occupied spaces in radar images by leveraging lidar label supervision. However, there are still several unsolved issues. Firstly, the sensing distance of the results is limited by the sensing range of lidar. Secondly, the performance of the results is degenerated by lidar due to the physical sensing discrepancies between the two sensors. For example, some objects visible to lidar are invisible to radar, and some objects occluded in lidar scans are visible in radar images because of the radar's penetrating capability. These sensing differences cause false positive and penetrating capability degeneration, respectively. In this paper, we propose training data preprocessing and polar sliding window inference to solve the issues. The data preprocessing aims to reduce the effect caused by radar-invisible measurements in lidar scans. The polar sliding window inference aims to solve the limited sensing range issue by applying a near-range trained network to the long-range region. Instead of using common Cartesian representation, we propose to use polar representation to reduce the shape dissimilarity between long-range and near-range data. We find that extending a near-range trained network to long-range region inference in the polar space has 4.2 times better IoU than in Cartesian space. Besides, the polar sliding window inference can preserve the radar penetrating capability by changing the viewpoint of the inference region, which makes some occluded measurements seem non-occluded for a pretrained network.
The Complexity of the Hausdorff Distance
Venue: arXiv cs.CG 2022
Year: 2022

We investigate the computational complexity of computing the Hausdorff distance. Specifically, we show that the decision problem of whether the Hausdorff distance of two semi-algebraic sets is bounded by a given threshold is complete for the complexity class $\forall\exists_<\mathbb{R}$. This implies that the problem is NP-, co-NP-, $\exists\mathbb{R}$- and $\forall\mathbb{R}$-hard.
Physics-based Mesh Deformation with Haptic Feedback and Material Anisotropy
Venue: arXiv cs.GR 2022
Year: 2022

We present a physics-based framework to simulate porous, deformable materials and interactive tools with haptic feedback that can reshape it. In order to allow the material to be moulded non-homogeneously, we propose an algorithm to change the material properties of the object depending on its water content. We present a multi-resolution, multi-timescale simulation framework to enable stable visual and haptic feedback at interactive rates. We test our model for physical consistency, accuracy, interactivity and appeal through a user study and quantitative performance evaluation.
What's Behind the Couch? Directed Ray Distance Functions (DRDF) for 3D Scene Reconstruction
Venue: arXiv cs.CV 2022
Year: 2022

We present an approach for full 3D scene reconstruction from a single unseen image. We train on dataset of realistic non-watertight scans of scenes. Our approach predicts a distance function, since these have shown promise in handling complex topologies and large spaces. We identify and analyze two key challenges for predicting such image conditioned distance functions that have prevented their success on real 3D scene data. First, we show that predicting a conventional scene distance from an image requires reasoning over a large receptive field. Second, we analytically show that the optimal output of the network trained to predict these distance functions does not obey all the distance function properties. We propose an alternate distance function, the Directed Ray Distance Function (DRDF), that tackles both challenges. We show that a deep network trained to predict DRDFs outperforms all other methods quantitatively and qualitatively on 3D reconstruction from single image on Matterport3D, 3DFront, and ScanNet.
NOMA Empowered Integrated Sensing and Communication
Venue: arXiv cs.IT 2022
Year: 2022

A non-orthogonal multiple access (NOMA) empowered integrated sensing and communication (ISAC) framework is investigated. A dual-functional base station serves multiple communication users employing NOMA, while the superimposed NOMA communication signal is simultaneously exploited for target sensing. A beamforming design problem is formulated to maximize the weighted sum of the communication throughput and the effective sensing power. To solve this problem, an efficient double-layer penalty-based algorithm is proposed by invoking successive convex approximation. Numerical results show that the proposed NOMA-ISAC outperforms the conventional ISAC in the underloaded regime experiencing highly correlated channels and in the overloaded regime.
Trajectory-Constrained Deep Latent Visual Attention for Improved Local Planning in Presence of Heterogeneous Terrain
Venue: arXiv cs.RO 2022
Year: 2022

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space which follow trajectories caused by vehicle control actions to enhance predictive accuracy during planning. The attention model is jointly optimized by the task-specific loss and an additional trajectory-constraint loss, allowing adaptability yet encouraging a regularized structure for improved generalization and reliability. Importantly, visual attention is applied in latent feature map space instead of raw image space to promote efficient planning. We validated our model in visual navigation tasks of planning low turbulence, collision-free trajectories in off-road settings and hill climbing with locking differentials in the presence of slippery terrain. Experiments involved randomized procedural generated simulation and real-world environments. We found our method improved generalization and learning efficiency when compared to no-attention and self-attention alternatives.
Detecting potentially harmful and protective suicide-related content on twitter: A machine learning approach
Venue: arXiv cs.CL 2022
Year: 2022

Research shows that exposure to suicide-related news media content is associated with suicide rates, with some content characteristics likely having harmful and others potentially protective effects. Although good evidence exists for a few selected characteristics, systematic large scale investigations are missing in general, and in particular for social media data. We apply machine learning methods to classify large quantities of Twitter data according to a novel annotation scheme that distinguishes 12 categories of suicide-related tweets. We then trained a benchmark of machine learning models including a majority classifier, an approach based on word frequency (TF-IDF with a linear SVM) and two state-of-the-art deep learning models (BERT, XLNet). The two deep learning models achieved the best performance in two classification tasks: In the first task, we classified six main content categories, including personal stories about either suicidal ideation and attempts or coping, calls for action intending to spread either problem awareness or prevention-related information, reporting of suicide cases, and other tweets irrelevant to these categories. The deep learning models reached accuracy scores above 73% on average across the six categories, and F1-scores in between 0.70 and 0.85 for all but the suicidal ideation and attempts category (0.51-0.55). In the second task, separating tweets referring to actual suicide from off-topic tweets, they correctly labeled around 88% of tweets, with BERT achieving F1-scores of 0.93 and 0.74 for the two categories, respectively. These classification performances are comparable to the state-of-the-art on similar tasks. By making data labeling more efficient, this work has enabled large-scale investigations on harmful and protective associations of social media content with suicide rates and help-seeking behavior.
Projecting Robot Navigation Paths: Hardware and Software for Projected AR
Venue: arXiv cs.RO 2022
Year: 2022

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such understanding is by visualizing this intent through projections onto the surrounding environment. But despite the demonstrated effectiveness of such projections, no open codebase with an integrated hardware setup exists. In this work, we detail the empirical evidence for the effectiveness of such directional projections, and share a robot-agnostic implementation of such projections, coded in C++ using the widely-used Robot Operating System (ROS) and rviz. Additionally, we demonstrate a hardware configuration for deploying this software, using a Fetch robot, and briefly summarize a full-scale user study that motivates this configuration. The code, configuration files (roslaunch and rviz files), and documentation are freely available on GitHub at https://github.com/umhan35/arrow_projection.